Street signs, traffic lights, and maps are the predominant navigational cues in society, each being inherently visual. When navigating through pedestrian areas that only provide these cues, people with visual impairments can experience disability. This study proposes the design of a drone for navigation, or NavDrone, a pocket-size, pilotless, and autonomous aircraft that will provide visual description of navigational cues. By creating access to visual information in the environment, the proposed NavDrone can assist people with visual impairments in navigating unfamiliar areas. The NavDrone can be used in place of or in addition to common navigation aids, such as guide dogs and white canes. We conducted a study using Value-Sensitive Design methodology, a technique that incorporates the analysis of human values throughout the design process. The purpose of this study was to investigate how the NavDrone can support the human values of autonomy, access, and safety by providing GPS navigation, auditory feedback and control, visual descriptions, and fine-grained obstacle detection. We conducted a stakeholder analysis and considered the values at stake for users and bystanders of a NavDrone in a public place. We conducted a survey with visually impaired stakeholders to gain an understanding of the value tensions that might arise when relying on a NavDrone to navigate in an unfamiliar public place. In our survey, we prompted stakeholders to reflect on a value scenario and to describe the types of information and strategies that they would use to navigate in an unfamiliar environment. We analyzed the data to find themes and underlying values that informed the technical specifications for the design of a NavDrone. Finally, we reflected on how the values of autonomy, access, and safety are implicated in the design of a NavDrone and how they might be implicated in other assistive drones for people who experience disability.